LPV制御理論に基づくビークルの運動性能向上に関する研究 : 第1報:水中ビークルDELTAの障害物回避のための制御系設計

概要

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The purpose of a series of the technical reports is to show applications of LPV (Linear-Parameter Varying) control theory for improving performances of vehicle control systems. The first report describes how to apply the theory to a collision avoidance problem related to an underwater vehicle. The treated underwater vehicle DELTA has the shape of delta wing and equips with two thrusters and movable inside weight as actuators and with four sensors detecting the depth, the pitch, the roll, the yaw angles. In order to avoid any obstacle, DELTA can change its forward speed by adjusting only the trusts, which means the large variations in hydrodynamic coefficients. Therefore there is a strong motivation of designing gain-scheduling controllers depending on the current speed. In the report, the most fundamental case of using state feedback is considered. Using LMI (Linear Matrix Inequality)-based methodologies, the successful simulations results are shown on 8m-depth change problem.
社団法人日本船舶海洋工学会の論文
2001-08-31